#!/usr/bin/env python
PACKAGE = "guidance_planner"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

# ==================================== Parameters for the solver =====================================================
homotopy_params = gen.add_group("Actions", "Actions")
homotopy_params.add("replan", 	bool_t, 0, "(Debug) Replan Homotopy",   False)
homotopy_params.add("debug", 	bool_t, 0, "Enable Debug Output", 	    False)
homotopy_params.add("visualize_samples", 	bool_t, 0, "Visualize All Samples", 	    False)

homotopy_params = gen.add_group("PRM Settings", "PRM Settings")
homotopy_params.add("n_samples", 	int_t, 1, "Number of Samples", 	    30, 10, 10000)
homotopy_params.add("n_paths", 	    int_t, 4, "Number of Paths", 		4, 0, 10)

homotopy_params.add("use_learning", 	bool_t, 0, "Use learning to choose topology", 	    False)

exit(gen.generate(PACKAGE, "guidance_planner", "GuidancePlannerReconfigure"))
